#ifdef _WIN32
	// For Windows Sleep(ms)
	#include <windows.h>
#else
	// For POSIX sleep(sec)
	#include <unistd.h>
#endif

//ROS头文件
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/tf.h>

//std
#include <fstream>
#include <iomanip>
#include <iostream>
#include <sstream>
#include <string>
#include <cmath>
#include <vector>

//NDI_API
#include "NDI_sensor/CombinedApi.h"
#include "NDI_sensor/PortHandleInfo.h"
#include "NDI_sensor/ToolData.h"

// Marker的配置文件rom所在路径定义
#define TOOL_ROM_DIR_339 "/home/wusoonvi/catkin_ws/src/ndi_sensor_bag/sroms/8700339.rom"
#define TOOL_ROM_DIR_340 "/home/wusoonvi/catkin_ws/src/ndi_sensor_bag/sroms/8700340.rom"
#define TOOL_ROM_DIR_449 "/home/wusoonvi/catkin_ws/src/ndi_sensor_bag/sroms/8700449.rom"
#define TOOL_ROM_DIR_PIVOTED "/home/wusoonvi/catkin_ws/src/ndi_sensor_bag/sroms/PIVOTED.rom"

// NDI的IP地址定义
#define IP_ADRESS_OF_NDI "192.168.1.110"